Hello Chief Delphi, we’re having issues with our ramsete command auto where the robot, upon deceleration, would start jerking back and forth. The ramsete command still gets to the final endpoint and stops, but before it does it starts jerking forward and backwards.
The action it does is comparable to a battery browning out where a robot would start to jerk and rapidly decelerate and accelerate due to very low voltage, but our batteries are perfectly fine.
Is anyone else experiencing this issue? Is it one of our kv, ka, or ks values? Could it be the B and zeta values being wrong? Has anyone figured it out?
Not sure what would cause it to only happen during deceleration, but I’ve seen issues accumulate over the duration of a path because the basic speed control (feed forward and PID) didn’t quite manage to reach the requested speed, and/or the maximum speed requested in a path was too high. So the robot couldn’t follow the requested path. The fix was to start over in steps. First check if the ks, kv, ka values allow controlling the speed. Run a test where you simply try to drive forward at a constant speed, and check that the robot indeed runs at that speed. Then try path follower/ramsete with a low maximum speed. If that works, try at a higher maximum speed.